PX4-Autopilot/docs/en/msg_docs/VehicleOpticalFlowVel.md

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VehicleOpticalFlowVel (UORB message)

TOPICS: estimator_optical_flow_vel vehicle_optical_flow_vel

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
vel_body	float32[2]			velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
vel_ne	float32[2]			same as vel_body but in local frame (m/s)
vel_body_filtered	float32[2]			filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
vel_ne_filtered	float32[2]			filtered same as vel_body_filtered but in local frame (m/s)
flow_rate_uncompensated	float32[2]			integrated optical flow measurement (rad/s)
flow_rate_compensated	float32[2]			integrated optical flow measurement compensated for angular motion (rad/s)
gyro_rate	float32[3]			gyro measurement synchronized with flow measurements (rad/s)
gyro_bias	float32[3]
ref_gyro	float32[3]

Source Message

Source file (GitHub)

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uint64 timestamp                       # time since system start (microseconds)
uint64 timestamp_sample                # the timestamp of the raw data (microseconds)

float32[2] vel_body                    # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne                      # same as vel_body but in local frame (m/s)

float32[2] vel_body_filtered           # filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne_filtered             # filtered same as vel_body_filtered but in local frame (m/s)

float32[2] flow_rate_uncompensated     # integrated optical flow measurement (rad/s)
float32[2] flow_rate_compensated       # integrated optical flow measurement compensated for angular motion (rad/s)

float32[3] gyro_rate                   # gyro measurement synchronized with flow measurements (rad/s)

float32[3] gyro_bias
float32[3] ref_gyro

# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel

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